In order to prevent \(\gamma _k\)  from being too large, Levenberg [1]} and Marquardt [2]} propose to add a regularization term (also denoted as damping term) to the cost function, resulting in
\( \min _{\gamma _k} \left\lbrace  \left\Vert  \mathbf {g}(\mathbf {b}_k) + \frac{d \mathbf {g}}{d \mathbf {b}}(\mathbf {b}_k) \gamma _k \right\Vert ^2 + \lambda _k \Vert  \gamma _k \Vert ^2 \right\rbrace ,\) 
